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Derivatives - Schedule of Estimated Fair Values of Derivatives Designated as Hedging Instruments (Details) - USD ($)
$ in Thousands
Jun. 30, 2023
Dec. 31, 2022
Derivative [Line Items]    
Derivative Asset, Statement of Financial Position [Extensible Enumeration] Prepaid expenses and other current assets Prepaid expenses and other current assets
Derivative Liability, Statement of Financial Position [Extensible Enumeration] Other noncurrent liabilities Other noncurrent liabilities
Designated as Hedging Instrument    
Derivative [Line Items]    
Total $ 3,247 $ 4,737
Designated as Hedging Instrument | Interest rate swaps    
Derivative [Line Items]    
Derivative asset 3,374 4,905
Derivative liability $ (127) $ (168)